Implement contouring toolbar

ABSTRACT

An agricultural machine includes a frame member; a toolbar coupled to the frame member parallel to the frame member; a row unit coupled to the toolbar; and an actuator coupled between the frame member and the toolbar, the actuator configured to rotate the toolbar based on a sensed position of the toolbar. Related methods are also disclosed.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/470,472, filed Jun. 17, 2019, as a national phase entry under 35U.S.C. § 371 of International Patent Application PCT/IB2017/001298,filed Oct. 26, 2017, designating the United States of America andpublished in English as International Patent Publication WO 2018/109545A1 on Jun. 21, 2018, which claims the benefit of the filing date of U.S.Provisional Patent Application 62/435,118, filed Dec. 16, 2016, theentire disclosure of each of which is incorporated herein by reference.

TECHNICAL FIELD

The present disclosure is generally related to implements, and, moreparticularly, agricultural implements.

BACKGROUND

Implements, such as agricultural implements, are used to enable theengagement of tool attachments, including row units, with the soil forseeding, fertilizing, soil agitation, etc. As implements continue to getwider, they tend to have longer, rigid sections that do not handleuneven fields well. For instance, the field may comprise gullies and/orterraces that compromise the ability of the row units to properlyoperate in the field. As an example, when a planter encounters aterrace, frame wheels of the implement lift the row units up and out ofthe ground. Conversely, as the wheels go down the back of the terrace,the entire weight of the frame rests on the row units. In either case,possible detrimental results include insufficient crop yield due toseeds being planted too shallow or too deep.

BRIEF DESCRIPTION OF THE DRAWINGS

Many aspects of a contouring toolbar system of the present disclosurecan be better understood with reference to the following drawings. Thecomponents in the drawings are not necessarily to scale, emphasisinstead being placed upon clearly illustrating the principles of acontouring toolbar system. Moreover, in the drawings, like referencenumerals designate corresponding parts throughout the several views.

FIG. 1 is a schematic diagram that illustrates an example environment inwhich an embodiment of an example contouring toolbar system may be used.

FIG. 2 is a schematic diagram that illustrates, in side elevation view,an embodiment of an example contouring toolbar system with the toolbarin a flat or zero angle position.

FIG. 3 is a schematic diagram that illustrates, in fragmentary, sideelevation view, an embodiment of an example contouring toolbar systemwith an implement comprising a toolbar in various angular positions.

FIGS. 4A-4B are schematic diagrams that illustrate, in fragmentary sideelevation view, example field contours that trigger activation of theactuators of an embodiment of an example contouring toolbar system.

FIG. 5A is a block diagram that illustrates an example control systemfor an embodiment of an example contouring toolbar system.

FIG. 5B is a block diagram that illustrates an example controller forthe control system of FIG. 5A.

FIG. 6 is a flow diagram that illustrates an embodiment of an examplecontouring toolbar method.

DETAILED DESCRIPTION

In one embodiment, a frame member; a toolbar coupled to the framemember, the toolbar parallel to, and rearward of, the frame member; arow unit coupled to the toolbar; and an actuator coupled between theframe member and the toolbar, the actuator configured to rotate thetoolbar based on a sensed position of the toolbar.

Certain embodiments of a contouring toolbar system and method aredisclosed that enable an implement with row units to navigate acrossuneven fields while controlling a relationship of a row unit toolbar tothe ground independently of the implement, frame-mounted wheels. In oneembodiment, a contouring toolbar system comprises an actuator coupledbetween a frame member and a toolbar, the actuator retracted or extendedbased on the position of the toolbar as sensed by one or more sensors,which in turn maintains the coupled row units properly engaged with(e.g., seeding) the soil despite the contoured surfaces of the field. Insome embodiments, the contouring toolbar system uses the sensed positionof the toolbar to enable in-field planting operations, including liftingand turning at the end of the field.

Digressing briefly, most implement designs (e.g., planters) comprise arow unit toolbar that remains rigid as the implement moves overcontoured field surfaces. When the implement is towed over a terrace,for instance, the row unit may be lifted off of the ground due to therigid structures involved, resulting in a shallow or surface-level seeddepth. In other instances, such as when the row unit is approaching avalley or gulley where the towing vehicle is at a higher elevation, therow unit may receive the entire weight load of the frame, resulting in aseed depth that is excessive and possibly causing damage to the rowunit. In contrast, certain embodiments of a contouring toolbar systemactively control the rotation of the row unit toolbar, adapting therotation to follow the contoured field surfaces and hence alwaysattempting to keep the row units engaged with the ground (e.g., byattempting to control the toolbar to be at a level position relative tothe ground, or stated otherwise, maintain a relatively consistentelevation of the toolbar relative to ground).

Having summarized various features of certain embodiments of acontouring toolbar system of the present disclosure, reference will nowbe made in detail to the detailed description of a contouring toolbarsystem as illustrated in the drawings. While the disclosure is describedin connection with these drawings, there is no intent to limit it to theembodiment or embodiments disclosed herein. Further, although thedescription identifies or describes specifics of one or moreembodiments, such specifics are not necessarily part of everyembodiment, nor are all various stated advantages associated with asingle embodiment. On the contrary, the intent is to cover allalternatives, modifications and equivalents included within the spiritand scope of a contouring toolbar system as defined by the appendedclaims. Further, it should be appreciated in the context of the presentdisclosure that the claims are not necessarily limited to the particularembodiments set out in the description.

Note that references hereinafter made to certain directions, such as,for example, “front,” “rear,” “left,” and “right” are made as viewedfrom the rear of the implement looking forwardly.

Attention is now directed to FIG. 1 , which is a schematic diagram thatillustrates an example environment 10 in which an embodiment of acontouring toolbar system may be used. It should be appreciated by onehaving ordinary skill in the art, in the context of the presentdisclosure, that the environment 10 depicted in FIG. 1 is merelyillustrative of one example environment, and that in some embodiments,other environments may be used. The example environment 10 includes atowing vehicle 12, in this example a tractor, towing an implement 14.The tractor 12 and implement 14 are depicted in fragmentary view. Insome embodiments, other types of towing vehicles, including aself-propelled vehicle with an integrated implement (in lieu of a towedimplement) or towing vehicles of other axle arrangements or otherchassis configurations may be used, and hence are contemplated to bewithin the scope of the disclosure. The tractor 12 is coupled to theimplement 14 using any known hitch and/or tongue assembly 16. Theimplement 14 may support equipment 18, which may include one or moreproduct containers, control components, pumps, reservoirs, among otherequipment used to dispense product and control functioning of theimplement and/or its attachments. The implement 14 comprises a chassisthat includes parallel frame members 20, 22 in fore and aft arrangement,respectively, when deployed (e.g., when the implement 14 is towed in theforward direction). In the depicted example, the implement 14 isextended in a transverse direction relative to the direction of fieldtraversal. The implement 14 is segmented into wing sections 24 (e.g.,24A, 24B) and a center section 26 that supports the equipment 18 andtrails directly behind the tractor 12. In some embodiments, theimplement 14 may be towed in an orientation where the center section 26is physically offset from the center of the tractor 12. Although notdetailed in FIG. 1 , the wing sections 24 are respectively coupled tothe center section 26 in pivotal manner, enabling a folding in a planeoccupied by the tractor 12 and implement 14 for narrow-profiletransport. In some embodiments, the folding of the wing sections 24 maybe achieved outside of the plane of the tractor 12 and implement 14(e.g., folded upward above the plane and rearward). Coupled to the framemembers 20 of the wing sections 24A, 24B and center section 26 arerespective wheels 28 (e.g., 28A to frame member 20 of wing section 24A,28B-28C to frame member 20 of center section 26, and 28D to frame member20 of wing section 24B). Some embodiments of a contouring toolbar systemmay use additional wheels (e.g., in tandem, as duals, or otherwise) inthe same or different positions, or arrange the wheels in differentlocations than shown. For instance, in some embodiments, the wheels 28may not be disposed between the frame members 20, 22. However, in thedepicted example, the wheels 28 are disposed between the frame members20, 22. Each frame member 20, 22 comprises bracket arms 42 (notdesignated in FIG. 1 , but shown in FIGS. 2 ) and 30 (e.g., 30A-30F),respectively, that pivotably couple (e.g., via hinged joint to bracketarms of the frame member 20) the frame members 22 to the frame members20.

Attached at the bracket arms 30A, 30B, 30E, 30F of the wing sections24A, 24B are actuators 32 (e.g., 32A, 32B, 32E, and 32F), and attachedto bracket arms 30C, 30D of the center section 26 are actuators 32(e.g., 32C, 32D). Note that the location and/or quantity of bracket arms30 and/or actuators 32 depicted in FIG. 1 is for illustration of oneembodiment, and that in some embodiments, different and/or additionalquantities and/or locations may be used. The actuators 32 may beconfigured as single rod hydraulic actuators (e.g., a linear-acting,piston and rod assembly, though in some embodiments, rotary actuationmay be used). In some embodiments, the actuators 32 may be configured aseither pneumatic, electric, magnetic, or electromagnetic actuators. Theactuators 32 are configured to rotate the frame members 22 (e.g., thetoolbar) of the wing and center sections 24, 26 to/from any positionalong a range of positions throughout an approximately one hundred ten(110) degree range, though in some embodiments, the range may be more orless. For instance, for field work and transport operations, theactuators 32 may rotate the frame members 22 relative to the framemembers 20 to angular positions of zero (0) degrees (e.g., working alevel or even surface of the field), approximately 20-40 degrees (e.g.,raising the frame member 22 to clear a minimum recommended headlandselevation or a maximum recommended headlands rotation, respectively),and approximately 90 degrees (e.g., for narrow transport). Note that theangular position is construed relative to a horizontal plane of theframe members 20. The actuators 32 are also configured to rotate theframe members 22 of the wing and center sections 24, 26 to angularpositions below the center or zero degree position. For instance, in oneembodiment, the actuators 32 may be extended (e.g., the rods extended)to an angular position of approximately 10 degrees below the zero degreereference (below level), such as to accommodate hills traversals, oreven greater angles (as suggested by the 25 degree angle in FIG. 3 ,described below. In other words, the angular span of positions to whichthe frame member 22 may be rotated relative to the frame member 20comprises an obtuse angle (e.g., over 90 degrees).

Removeably attached to the frame members 22 and arranged rearward to theframe members 22 are row units 33, including soil working tools thatseed, fertilize, and/or agitate the soil. Though shown completelyrearward of the frame members 22, in some embodiments, the row units 33may be alternately staggered, with the row units 33 position completelyrearward and slightly forward and rearward of the frame member 22. Otherconfigurations may be used, as should be appreciated by one havingordinary skill in the art.

The tractor 12 also comprises a controller 34 that causes actuation ofthe actuators 32 based on operator input, software and/or device input,and/or sensor signals as explained further below. For instance, wherethe actuators 32 are configured as hydraulic cylinders, hydraulic fluidcontrol may be achieved via a control component 36 that comprises one ormore manifolds, each comprising one or more control valves that controla state of the hydraulic cylinders 32 (e.g., control the change inpressure and/or change in flow rate of hydraulic fluid through thecylinders). Actuation of the control component 36 may be achievedwirelessly or via wired connection (e.g., ISOBUS) according to commandsfrom the controller 34.

Note that the contouring toolbar system may include the componentsdescribed for the entire environment 10 in some embodiments, or a subsetof the described components in some embodiments.

Having generally described an example environment 10 in which anembodiment of a contouring toolbar system may be used, attention isdirected to FIG. 2 , which illustrates an example implement 14 with alevel or zero angle position of the frame member 22 relative to theframe member 20. In the depicted example, the wing sections 24 arefolded forward relative to the center section 26. Only one row unit 33Ais depicted as attached to the frame member 22, with the understandingthat additional row units would typically be attached along the framemembers 22. Referring to wing section 24A in particular with primaryfocus on the components associated with the actuator 32A, with theunderstanding that a similar description applies to the rotationalcomponents of the rest of the wing section 24A, the wing section 24B,and the center section 26 but omitted here for brevity, the frame member22 comprises a toolbar 38. The toolbar 38 may be rectangular in shape,and comprises in one embodiment on the rearward side, tool brackets 40that are uniformly spaced along the toolbar 38. The tool brackets 40 aresecured to the toolbar 38 according to any known securement mechanism,including weld, bolts, etc. The tool brackets 40 facilitate attachmentof respective soil working tools, such as row units 33A. On the opposingside of the toolbar 38 are the bracket arms 30, which extend forwardlyfrom the toolbar 38. The bracket arms 30 couple via a hinged joint torearward extending bracket arms 42 extending from the frame member 20.

Enabling rotation of the frame members 20, 22 are the plural actuators32 (e.g., 32A). In one embodiment, the actuator 32A (as with the otheractuators 32) is attached to an upper portion of the frame member 20(e.g., at or proximal to the upper portion of the bracket arm 42) andthe bracket arm 30 opposite the toolbar 38. Other locations may be usedas long as the rotation of the toolbar 38 is achieved relative to theframe member 20. In FIG. 2 , the actuators 32 have rotated the toolbar38 to a zero (0) degree angle relative to the horizontal plane of atransverse component of the frame member 20. In this orientation, rowunits 33A may be operational and engaged with the soil.

Referring now to FIG. 3 , shown is an embodiment of an examplecontouring toolbar system with an implement 14A comprising a toolbar 38Ain various angular positions. The implement 14A shown in FIG. 3 may besimilarly structured and configured as implement 14 shown in FIGS. 1-2 .The implement 14A is depicted diagrammatically with the frame member 20Acomprising a bracket arm 42A, the bracket arm 42A pivotably coupled tothe toolbar 38A (e.g., via a hinged connection at the bracket arm 30(FIG. 2 ) and the bracket arm 42). The actuator 32A-1 provides forretracting and extending movements that cause the toolbar 38A to rotaterelative to the frame member 20A. The toolbar 38A is coupled to the rowunit 33B via a linkage 44. The linkage 44 is comprised of aparallelogram structure, as is known, and permits limited parallelogrammotion between the toolbar 38A and the row unit 33B. The wheel 28A-1 iscoupled to the frame member 20 in known manner, similar to that shown inFIG. 2 , though as described above, some embodiments may use differentchassis configurations and hence are contemplated to be within the scopeof the disclosure. The implement 14A is shown resting on a field 46, thefield 46 shown as a level surface and also angled to represent where theactuator 32A-1 needs to drop (extend) the toolbar 38A to follow thevarying contours of the field surface. One of the points FIG. 3 isillustrating is that an embodiment of a contouring toolbar system ispersistently attempting to control the “X” dimension to keep the rowunit 33B engaged with the ground (e.g., to enable proper seeding,agitation, etc.). The “X” dimension is referenced relative to a locationproximal to the row unit connection to the toolbar 38A (e.g., via theparallelogram linkage connection) relative to the ground, and hencecorresponds to the toolbar position relative to the ground.

The toolbar 38A (38A in zero-angle position) is shown in multipleangular positions, including toolbar 38A-1, toolbar 38A-2, and toolbar38A-3. At toolbar 38A-1, the actuator 32A-1 has raised (e.g., via fullretraction of the corresponding rod) the toolbar 38A-1 to approximately90 degrees (e.g., relative to a level surface or a longitudinal axis ofthe frame member 20A) for narrow transport.

At toolbar 38A-2, the actuator 32A-1 has raised the toolbar 38A-2 toapproximately 10 degrees relative to a level surface or a longitudinalaxis of the frame member 20A. Such actuation may occur, for instance, ifthe row unit 33B was traversing the backside of a terrace to attempt tocontrol the X dimension relative to the ground surface to keep the rowunit 33B engaged (which also may prevent excessive loads on the row unit33B). Also, for field operations, an intermediate position of thetoolbar 38A proximal to that depicted in FIG. 3 for toolbar 38A-2 may besensed for permitting headland turning. For instance, the toolbar 38Amay be raised to approximately 20-30 degrees, the rotation sensed toenable the controller 34 to stop at that operational position.

At toolbar 38A-3, the actuator 32A-1 has lowered the toolbar 38A-3 belowzero degrees (e.g., approximately 10 degrees below the zero angularposition). Such an actuation may occur if the row unit 33B was travelingon the upside of a hill as in the depicted example (the row unit 33B notactually shown traversing the slope of 25 degrees for ease ofillustration). In other words, the actuation serves to attempt tomaintain the X dimension of the toolbar 38A (e.g., and similarly, therow unit 33B), which in turn also avoids lifting the row unit 33B off ofthe surface of the field 46. As set forth above, additional actuationmay be performed for even greater changes in traversed field contour(e.g., 25 degrees) in order to control the “X” dimension. As illustratedin FIG. 3 , the toolbar position is adjusted to attempt to maintain alevel operating position relative to the contour of the surface and toenable proper engagement of the row unit 33B with the field 46.

In one embodiment, the control of the actuation is based on one or moresensors that sense the position of the toolbar 38A. The sensors may bedisposed for each row unit 33B of a planter, or one or more sensors maybe used for all of the row units 33B. In general, to enable the toolbar38A (and hence toolbar 38A) to follow the contour of the field, sensorinformation is received about the (relative) position of the toolbar 38A(and by extension, the relative position of the row unit 33B) relativeto the ground. A row unit sensor, such as sensor 50, is used for thecontouring operation. In one embodiment, at least one row unit sensor 50is used, though in some embodiments, there may be a row unit sensor 50per every row unit 33B. Further, toolbar rotation for field operationsmay also rely on sensor information. For instance, at the end of a“pass”, the row units 33B are lifted to a headland position, the towingvehicle turns around, and the row units 33B are lowered again to engagethe field for the next pass. This operation is referred to as headlandturning, which involves transitioning from a contouring or fieldoperation position of the toolbar 38A (and hence row units 33B) to apre-configured (or in some embodiments, operator-configured)intermediate angle of the toolbar 38A. Headland turning benefits fromthe use of sensor information about the toolbar position relative to theframe member 20A. In one embodiment, one or more sensors, includingsensor 48, may be used to provide this information. There may be asingle sensor 48 corresponding to plural row units, or multiple sensors48 (e.g., per row unit 33B). The sensor 48 may also be used for enablingtransport, such as triggering an electronic stop (from signaling of thecontroller 34) when the toolbar 38A has reached the transport position(e.g., approximately 90 degrees).

The sensor 48 may be positioned proximal to the pivot point of thebracket arm 42 of the frame member 20 and where the toolbar 38A couplesto the bracket arm 42. In this position, the sensor 48 senses theangular position and/or change in angular position between the toolbar38A and the frame member 20. The sensor 50 may be located at the pivotpoint between the linkage 44 and the toolbar 38A, and used to sense theposition of the toolbar 38A (and hence the position of the row unit 33B)relative to the ground. That is, the contouring toolbar system attemptsto follow the contour of the field 46 (controlling the “X” dimension) aspivoting areas begin to move in response to the changes in fieldsurfaces. In short, the contouring toolbar system attempts to keep the“X” dimension or the toolbar 38A relatively constant relative to theground and also control the travel of the toolbar 38A in a manner thatkeeps the row unit 33B engaged with the ground.

In one embodiment, the sensors 48 and 50 may each be configured as arotary encoder that provides an angle value for every programmed amountof sensed rotation. For instance, the rotary encoder may beoptically-based, and for every detected rotation or click (e.g.,assuming a single rotation or “click” per single degree, though otherresolutions may be used), the controller 34 (FIG. 1 ) can track based ona signal from the sensors 48, 50 at what angle the toolbar 38A hasrotated relative to the frame member 20A (from sensor 48) and the ground(from sensor 50).

For contouring control, the controller 34 may be programmed to triggeractuation of the actuator 32A-1 based on a sensed (e.g., from sensor 50)defined threshold egree value away from a zero degree reference,providing a buffer to excessive actuations. In some embodiments, therate of rotation may also trigger the controller 34 to communicate thespeed of actuation. For instance, at a single click of the sensor 50,the controller 34 may communicate an actuation speed of a definedpercentage (e.g., 1%) or value, and a 5 degree rotation may triggercommunication of a faster speed (e.g., 50%) to serve in an anticipatorymanner to avoid wide or rapid stroke of the actuator 32A-1.

In some embodiments, the sensors 48 and/or 50 may be configured asnon-contact type, electromagnetic sensors, including ultrasonic, radar,or lidar type sensors, or as a combination of angular position andnon-contact types. For instance, the electromagnetic sensors may detectthe position of the ground (e.g., via transmittal to and reflection fromthe ground) relative to the toolbar 38A and communicate a signal to thecontroller 34 to cause adjustment of the toolbar 38A to control (e.g.,maintain) the toolbar-to-ground dimension X substantially constant. Notethat in some embodiments, the electromagnetic sensors may be located inother locations, including at the row unit 33B. The electromagneticsensors may be configured to detect an absolute elevation of the toolbar38A relative to ground or a change in elevation relative to ground.

Attention is now directed to FIGS. 4A-4B, which illustrate,diagrammatically, example operations of an embodiment of a contouringtoolbar system. Shown is a tractor 52 coupled to a planter frame 54. Theplanter frame 54 is pivotably coupled to a toolbar 56 via bracket arms58, 60. Coupled between bracket arms 58, 60 is actuator 62. The toolbar56 is further coupled to the row unit 64 via linkage 66. Note that theplanter frame 54 may be similar to the frame member 20 (FIG. 1 ), andthe bracket arms 58, 60 may be similar to bracket arms 42 and 30 (FIGS.1-2 ). Also, the toolbar 56 may be similar to toolbar 38 (FIG. 3 ), andthe row unit 64 and linkage 66 may be similar to the row unit 33 (FIGS.1-2 ) and linkage 44 (FIG. 3 ), respectively. Referring to FIG. 4A, theplanter frame 54 is shown commencing a downward slope of a hill 68. Anangle sensor 70 positioned proximal to the toolbar 56 and row unit 64and senses a change in position of the toolbar 56 (and hence row unit64) relative to the ground and signals to the controller 34. Thecontroller 34, in turn, processes the received signal and signals to acontrol component 72 to change a state of the actuator 62 (e.g., changein pressure and/or fluid flow in the case of a hydraulic actuator)according to the determined angular change, resulting in the rod of theactuator 62 extending to rotate the toolbar 56 downward to adjust to thechange in contour. Note that in conventional systems, the row unit maybe lifted off of the ground due to the rigid structures involved,resulting in insufficient planting depth.

Referring to FIG. 4B, the planter frame 54 is traversing up a slopewhile the row unit 64 is heading down to a valley 69 or gulley. Thesensor 70 senses the change in angular position of the toolbar 56 (androw unit 64) relative to the ground and signals to the controller 34.The controller 34 in turn signals to the control component 72 accordingto the determined angular change, resulting in the rod of the actuator62 being retracted to cause the toolbar 56 to rotate up to adjust to thechange in contour. In a conventional system, the row unit may loseengagement with the field, resulting in the deposit of seed at too muchdepth, affecting yield negatively. Also, the row unit in a conventionalsystem may be exposed to excessive forces (e.g., possibly causing therow unit to damage or break off).

Reference is now made to FIG. 5A, which illustrates an embodiment of anexample control system 74 used for controlling operations of the toolbarrotations for an embodiment of a contouring toolbar system. It should beappreciated within the context of the present disclosure that someembodiments may include additional components or fewer or differentcomponents, and that the example depicted in FIG. 5A is merelyillustrative of one embodiment among others. The control system 74 maybe located entirely on the implement (e.g., implement 14, FIG. 1 ),distributed among the towing vehicle (e.g., tractor 12, FIG. 1 ) and theimplement, or among additional devices (e.g., remote control). Further,though depicted using a single controller 34, in some embodiments, thecontrol system 74 may be comprised of plural controllers similarlyconfigured to controller 34. In the depicted embodiment, the controller34 is coupled via one or more networks, such as network 76 (e.g., a CANnetwork or other network, such as a network in conformance to the ISO11783 standard, also referred to as “Isobus”), to control components 78,one or more sensors 80, a user interface 82, a communications interface(COMM INT) 84, and a global navigation satellite systems (GNSS) receiver86. The control components 78 may be configured similarly to controlcomponents 36 (FIGS. 1 ) and 72 (FIG. 4A). The sensors 80 may beconfigured similarly to sensors 48, 50 (FIG. 3 ), and/or 70 (FIG. 4A).Note that control system operations are primarily disclosed herein inthe context of control via the single controller 34, with theunderstanding that additional controllers may be involved in one or moreof the disclosed functionality in some embodiments.

The control components 78 may comprise a manifold comprising one or moreor a combination thereof of control valves, air valves, switches,relays, solenoids, motors, etc., to cause actuation of the actuators(e.g., actuator 32, FIG. 2 ) that control the rotation of the toolbars(e.g., toolbar 38, FIG. 2 ). In the depicted example, the controlcomponents 78 comprises one or more multi-position (e.g., 3-position)hydraulic control valves with coupled solenoids, the solenoids receivingsignaling from the controller 34 and causing movement of a spool orpoppet(s) of the control valves. The control valves in turn regulate theflow into and out of actuators that, in one embodiment, comprise linearacting, rod and single piston-type hydraulic cylinders 88. Theregulation of the flow and/or pressure across the piston enables theretraction or extension of the rod as needed. As suggested above, thecontrol technology may be comprised of pneumatic, electric, magnetic, orelectromagnetic.

The sensors 80 may be comprised of angle positioning sensors (e.g.,rotary encoders, including optical based or other electromagneticfrequencies), or non-contact type sensors, including radar, acoustic,lidar, among others. In some embodiments, a combination of these typesof sensors may be used. The sensors 80 are used to determine theposition of the row unit toolbar, including via the determination of thedistance between the toolbar and the ground surface and/or the angularposition of the toolbar relative to the frame member (e.g., frame member20, FIG. 1 ).

The user interface 82 may include one or more components, including oneor any combination of a keyboard, mouse, microphone, touch-type ornon-touch-type display device (e.g., display monitor or screen),joystick, steering wheel, FNR lever, and/or other devices (e.g.,switches, immersive head set, etc.) that enable input and/or output byan operator. For instance, in some embodiments, the user interface 82may be used to present on a display screen implement control options(e.g., drop the toolbar for engagement of the row units with the soil,raise the toolbar for headlands, raise the toolbar for transport, etc.)for the operator to choose from, and/or the user interface 82 mayprovide feedback of when these actions are taken or about to be takenwhen performed automatically (e.g., providing an operator theopportunity to reject or acknowledge or merely observe). In someembodiments, the feedback may be in the form of recommendations to theoperator for taking certain actions. In one embodiment, a visual of theimplement may be presented on the screen, with the sensor datacommunicated in the form of data and/or a visual of the movement of thetoolbar relative to the field contour. In some embodiments, thefunctions of manually rotating the toolbar to various operationalpositions may be performed via actuation of a switch, lever, handle,etc., or verbally commanded.

The communications interface 84 may comprise a wireless networkinterface module (e.g., including an RF and/or cellular modem) forwireless communication among other devices of the towingvehicle/implement combination or with remote devices (e.g., externalfrom the implement and towing vehicle). The communications interface 84may work in conjunction with communication software (e.g., includingbrowser software) in the controller 34, or as part of another controllercoupled to the network 76 and dedicated as a gateway for wirelesscommunications with other devices or networks. The communicationsinterface 84 may comprise MAC and PHY components (e.g., radio circuitry,including transceivers, antennas, etc.), as should be appreciated by onehaving ordinary skill in the art.

The GNSS receiver (GNSS RX) 86 may be comprised of a GPS receiver, forinstance, to receive location coordinates of the towing vehicle and/orimplement. The GNSS receiver 86 may function in cooperation with fieldmaps stored locally in the controller 34 (or accessed from a remoteserver) to enable detection of headlands, roads, field entrances, and/orlocations for surface features (e.g., hills, gullies), etc. Forinstance, the use of locations of surface features may be used in partto enable the controller 34 to improve anticipation of the extent (e.g.,speed) of actuation for rotating the toolbar.

FIG. 5B further illustrates an example embodiment of the controller 34.One having ordinary skill in the art should appreciate in the context ofthe present disclosure that the example controller 34 is merelyillustrative, and that some embodiments of controllers may comprisefewer or additional components, and/or some of the functionalityassociated with the various components depicted in FIG. 5B may becombined, or further distributed among additional modules, in someembodiments. It should be appreciated that, though described in thecontext of residing in a towing vehicle (e.g., the tractor 52 (FIG. 4A),in some embodiments, the controller 34, or all or a portion of itscorresponding functionality, may be implemented at the implement (e.g.,implement 14, FIG. 1 ) or in a computing device or system locatedexternal to the tractor and/or implement. Referring to FIG. 5B, withcontinued reference to FIG. 5A, the controller 34 or electronic controlunit (ECU) is depicted in this example as a computer, but may beembodied as a programmable logic controller (PLC), field programmablegate array (FPGA), application specific integrated circuit (ASIC), amongother devices. It should be appreciated that certain well-knowncomponents of computers are omitted here to avoid obfuscating relevantfeatures of the controller 34. In one embodiment, the controller 34comprises one or more processors (also referred to herein as processorunits or processing units), such as processor 90, input/output (I/O)interface(s) 92, and memory 94, all coupled to one or more data busses,such as data bus 96. The memory 94 may include any one or a combinationof volatile memory elements (random-access memory RAM, such as DRAM, andSRAM, etc.) and nonvolatile memory elements (e.g., ROM, Flash, harddrive, EPROM, EEPROM, CDROM, etc.). The memory 94 may store a nativeoperating system, one or more native applications, emulation systems, oremulated applications for any of a variety of operating systems and/oremulated hardware platforms, emulated operating systems, etc.

In the embodiment depicted in FIG. 5B, the memory 94 comprises anoperating system 98 and contouring toolbar control software (SW) 100. Itshould be appreciated that in some embodiments, additional or fewersoftware modules (e.g., combined functionality) may be deployed in thememory 94 or additional memory. For instance, the memory 94 may alsoinclude browser software and/or communications software. In someembodiments, a separate storage device may be coupled to the data bus96, such as a persistent memory (e.g., optical, magnetic, and/orsemiconductor memory and associated drives).

The contouring toolbar control software (SW) 100 receives input from theuser interface 82 (via the I/O interfaces 92 and network 76) and sensorinput from the sensors 80 (via the I/O interfaces 92 and network 76). Insome embodiments, the contouring toolbar control software (SW) 100 mayreceive additional input, including location coordinates from the GNSSreceiver, such as to identify certain surface features, headlands,and/or roads to trigger certain toolbar rotations. As suggested above,the sensor input is converted to an actuation signal (including amagnitude and optionally a rate), which is used to cause a suitablestroke to meet the required compensatory motion by the actuator (e.g.,cylinders 88) to adjust the toolbar rotation. In some embodiments,operator input at the user interface 82 is also communicated andtranslated to an actuation signal to maneuver the toolbar to anappropriate position (e.g., to raise the toolbar at a headland, fornarrow transport, etc.). The contouring toolbar control software (SW)100 also provides user interface functionality to provide feedback ofcertain toolbar rotations, with or without the ability for the operatorto intervene as explained previously.

Execution of the contouring toolbar control software (SW) 100 may beimplemented by the processor 90 under the management and/or control ofthe operating system 98. The processor 90 may be embodied as acustom-made or commercially available processor, a central processingunit (CPU) or an auxiliary processor among several processors, asemiconductor based microprocessor (in the form of a microchip), amacroprocessor, one or more application specific integrated circuits(ASICs), a plurality of suitably configured digital logic gates, and/orother well-known electrical configurations comprising discrete elementsboth individually and in various combinations to coordinate the overalloperation of the controller 34.

The I/O interfaces 92 provide one or more interfaces to the network 76and other networks. In other words, the I/O interfaces 92 may compriseany number of interfaces for the input and output of signals (e.g.,analog or digital data) for conveyance of information (e.g., data) overthe network 76. The input may comprise input by an operator (local orremote) through the user interfaces 82 and input from signals carryinginformation from one or more of the components of the control system 74,as explained above.

When certain embodiments of the controller 34 are implemented at leastin part with software (including firmware), as depicted in FIG. 5B, itshould be noted that the software can be stored on a variety ofnon-transitory computer-readable medium for use by, or in connectionwith, a variety of computer-related systems or methods. In the contextof this document, a computer-readable medium may comprise an electronic,magnetic, optical, or other physical device or apparatus that maycontain or store a computer program (e.g., executable code orinstructions) for use by or in connection with a computer-related systemor method. The software may be embedded in a variety ofcomputer-readable mediums for use by, or in connection with, aninstruction execution system, apparatus, or device, such as acomputer-based system, processor-containing system, or other system thatcan fetch the instructions from the instruction execution system,apparatus, or device and execute the instructions.

When certain embodiment of the controller 34 are implemented at least inpart with hardware, such functionality may be implemented with any or acombination of the following technologies, which are all well-known inthe art: a discrete logic circuit(s) having logic gates for implementinglogic functions upon data signals, an application specific integratedcircuit (ASIC) having appropriate combinational logic gates, aprogrammable gate array(s) (PGA), a field programmable gate array(FPGA), etc.

Having described some example embodiments of a contouring toolbarsystem, it should be appreciated in view of the present disclosure thatone embodiment of a computer-implemented method for an implement thatcomprises a toolbar that has row units secured thereto, the method foradjusting a rotation of the toolbar based on a contour of a field onwhich the implement traverses, the method denoted as method 102 andillustrated in FIG. 6 , comprises, at a controller (e.g., controller 34,FIG. 5B): receiving an indication of a first angle change of the toolbarrelative to ground (104); causing an actuator that pivotably couples thetoolbar to the frame member to retract based on the indication of thefirst angle change (106); receiving an indication of a second anglechange of the toolbar relative to the ground (108); and causing theactuator to extend based on the indication of the second angle change(110).

Any process descriptions or blocks in flow diagrams should be understoodas representing modules, segments, or portions of code which include oneor more executable instructions for implementing specific logicalfunctions or steps in the process, and alternate implementations areincluded within the scope of the embodiments in which functions may beexecuted out of order from that shown or discussed, includingsubstantially concurrently or in reverse order, depending on thefunctionality involved, as would be understood by those reasonablyskilled in the art of the present disclosure.

It should be emphasized that the above-described embodiments of acontouring toolbar system are merely possible examples ofimplementations, merely set forth for a clear understanding of theprinciples of the contouring toolbar system. Many variations andmodifications may be made to the above-described embodiment(s) of thecontouring toolbar system without departing substantially from thespirit and principles of the disclosure. All such modifications andvariations are intended to be included herein within the scope of thedisclosure and protected by the following claims.

1. A method of reactively controlling ground following of a row unit ofan agricultural machine comprising: providing a main frame, anadjustable frame coupled to the main frame and configured to pass over aportion of ground, and the row unit which includes a linking armpivotably coupled to the adjustable frame: determining an actual groundfollowing indicator associated with an actual height of the row unitrelative to the portion of ground; determining a desired groundfollowing indicator associated with a desired height of the row unitrelative to the portion of ground; comparing the desired groundfollowing indicator to the actual ground following indicator; andadjusting the actual ground following indicator toward the desiredground following indicator, which includes adjusting an applied forceoutput by at least one adjustable frame actuator that is coupled to theadjustable frame and the main frame based on the actual ground followingindicator and the desired ground following indicator.
 2. The method ofclaim 1, wherein adjusting the applied force output by the at least oneadjustable frame actuator that is coupled to the adjustable frame andthe main frame includes: sending a first signal to the at least oneadjustable frame actuator coupled to the adjustable frame and the mainframe; and adjusting an applied force output by the at least oneadjustable frame actuator from a first applied force to a second appliedforce based on the first signal, wherein at the first applied force theactual ground following indicator is not equal to or within apredetermined threshold of the desired ground following indicator, andat the second applied force the actual ground following indicator isequal to or within the predetermined threshold of the desired groundfollowing indicator.
 3. The method of claim 1, wherein determining anactual ground following indicator includes: determining an applied forceof the adjustable frame acting on the row unit.
 4. The method of claim3, wherein determining the applied force of the adjustable frame actingon the row unit includes: measuring the applied force output by the atleast one adjustable frame actuator via a load cell coupled to the atleast one adjustable frame actuator.
 5. The method of claim 3, whereindetermining the applied force of the adjustable frame acting on the rowunit includes: measuring the applied force output by the at least oneadjustable frame actuator via a pressure sensor coupled to the at leastone adjustable frame actuator.
 6. The method of claim 3, whereindetermining an actual ground following indicator further includes atleast one of: determining a position of the row unit relative to theadjustable frame; and measuring a parameter of the row unit irrespectiveof the adjustable frame.
 7. The method of claim 1, wherein determiningan actual ground following indicator includes: measuring a reactiveforce applied by the ground to a gauge wheel coupled to the adjustableframe.
 8. The method of claim 1, wherein determining an actual groundfollowing indicator includes: determining a position of the row unitrelative to the adjustable frame.
 9. The method of claim 8, whereindetermining a position of the row unit relative to the adjustable frameincludes: measuring an angle formed between the linking arm and at leastone of: a portion of the adjustable frame and a portion of the row unitcoupled to the linking arm.
 10. The method of claim 8, whereindetermining a position of the row unit relative to the adjustable frameincludes: measuring a position of a row unit actuator, which isconfigured to adjust a position of the linking arm relative to theadjustable frame.
 11. The method of claim 8, wherein determining aposition of the row unit relative to the adjustable frame includes:measuring the distance between the adjustable frame and a portion of thelinking arm of the row unit.
 12. The method of claim 1, whereindetermining an actual ground following indicator includes: measuring aparameter of the row unit irrespective of the adjustable frame.
 13. Themethod of claim 12, wherein measuring a parameter of the row unitirrespective of the adjustable frame includes: measuring a position of agauge wheel of the row unit relative to a shank of the row unit, whereinthe gauge wheel is coupled to the shank.
 14. The method of claim 12,wherein measuring a parameter of the row unit irrespective of theadjustable frame includes: measuring the position of a row cleaner ofthe row unit relative to a shank of the row unit, wherein the rowcleaner is pivotably coupled to the shank; and measuring, with anultrasonic sensor, the distance between the ground and a portion of therow unit.
 15. The method of claim 12, wherein measuring a parameter ofthe row unit irrespective of the adjustable frame includes: measuringthe position of an opening disc of the row unit relative to a surface ofthe ground.
 16. The method of claim 12, wherein measuring a parameter ofthe row unit irrespective of the adjustable frame includes: measuringthe position of a closing wheel of the row unit relative to a shank ofthe row unit, wherein the closing wheel is pivotably coupled to theshank.
 17. The method of claim 12, wherein measuring a parameter of therow unit irrespective of the adjustable frame includes: measuring areactive force applied by the ground to a gauge wheel of the row unit.18. The method of claim 12, wherein measuring a parameter of the rowunit irrespective of the adjustable frame includes: determining a groundcontact value indicative of a percentage of time that a gauge wheel ofthe row unit is in contact with the ground.
 19. The method of claim 1,wherein determining the desired ground following indicator includes:accessing the desired ground following indicator from a memory of theagricultural machine on which the ground following indicator is stored.20. The method of claim 19, further comprising: receiving a signalindicative of a desired ground following indicator from a user inputdevice prior to accessing the desired ground following indicator storedon the memory of the agricultural machine.